CN108354576A - A kind of magnetic force attitude controller - Google Patents
A kind of magnetic force attitude controller Download PDFInfo
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- CN108354576A CN108354576A CN201810002433.9A CN201810002433A CN108354576A CN 108354576 A CN108354576 A CN 108354576A CN 201810002433 A CN201810002433 A CN 201810002433A CN 108354576 A CN108354576 A CN 108354576A
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- 230000000875 corresponding effect Effects 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000005540 biological transmission Effects 0.000 abstract 1
- 239000002775 capsule Substances 0.000 description 15
- 210000002784 stomach Anatomy 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 9
- 230000006378 damage Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 210000002318 cardia Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000001187 pylorus Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
This application discloses a kind of magnetic force attitude controllers, including：Operation console generates and sends controlled device according to control instruction and controls signal to switch board for receiving control instruction input by user；Switch board controls signal for receiving controlled device, converts control object control signal to the first analog signal and the second analog signal and be respectively sent to mechanical arm and haulage gear；Mechanical arm, for being moved using the first analog signal control controlled device；Haulage gear, for being moved using the second analog signal control controlled device；The application receives the control instruction of operation console transmission using switch board and converts digital signals into analog signal and be sent to mechanical arm and haulage gear, by superposed mechanical arm and positioned at the haulage gear of lower part, corresponding action is executed according to analog signal, the movement that allows controlled device comprehensive among mechanical arm and haulage gear and receive control, it is wider to realize detection range bigger, safety higher, control range.
Description
Technical Field
The invention relates to the field of control systems, in particular to a magnetic force attitude controller.
Background
With the continuous progress of medical science and technology and the development of industrial automation, more and more robots are applied to the medical industry, such as capsule attitude controllers; the capsule posture controller automatically pulls the stomach capsule through the permanent magnet arranged on the mechanical arm to complete the examination of the stomach.
The current attitude controller mainly has the following defects: under the condition that patient's tie was lain, unilateral magnetic force pulls and only can let the capsule drag at last stomach wall, it is rotatory, when the capsule falls to lower part stomach wall, because the magnetic force of permanent magnet is limited, be not enough to reach the distance that can pull the capsule of whereabouts to the stomach end, can not carry out effective control, and because do not have the hardware that can feed back magnet and patient distance, the host computer can't learn the position of robot apart from the human body, and attitude controller sensor is controlled by the host computer, if the host computer crashes, then the sensor is inefficacy, can consequently trigger the incident.
Therefore, how to develop a capsule attitude controller with a larger detection range, higher safety and a wider control range is a problem to be solved currently.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a magnetic force attitude controller, which has a wider detection range, higher safety and a wider control range. The specific scheme is as follows:
a magnetic attitude controller comprising: the device comprises an operating platform, a control cabinet, a mechanical arm and a traction mechanism; the mechanical arm and the traction mechanism are both provided with magnets for controlling a controlled object to move, the mechanical arm and the traction mechanism are vertically arranged, and the mechanical arm is positioned above the traction mechanism;
the console is used for receiving a control instruction input by a user, generating and sending a controlled object control signal to the control cabinet according to the control instruction;
the control cabinet is used for receiving the controlled object control signal, converting the controlled object control signal into a first analog signal and a second analog signal, sending the first analog signal to the mechanical arm and sending the second analog signal to the traction mechanism;
the mechanical arm is used for controlling the controlled object to move by utilizing the first analog signal;
the traction mechanism is used for controlling the controlled object to move by utilizing the second analog signal.
Optionally, the console includes:
the mechanical arm control module is used for generating a controlled object control signal by using the control instruction, sending the controlled object control signal to the control cabinet and sending the controlled object control signal to the traction mechanism control unit;
and the traction mechanism control module is used for generating a following control signal by utilizing the controlled object control signal and sending the following control signal to the control cabinet.
Optionally, the robot arm control module includes:
and the control signal generating unit is used for generating a controlled object control signal according to the control command by utilizing an interpolation algorithm.
Optionally, the traction mechanism control module includes:
and the control signal generating unit is used for generating the following control signal according to the controlled object control signal by utilizing an electronic gear following algorithm.
Optionally, the method further includes:
the first limit sensor is connected in series with a power supply circuit of a mechanical arm in the control cabinet and is used for cutting off the power supply circuit of the mechanical arm when the pressure exceeding a threshold value on the magnet of the mechanical arm is detected;
and the second limit sensor is connected in series with a power supply circuit of the traction mechanism in the control cabinet and is used for cutting off the power supply circuit of the traction mechanism when detecting that the pressure exceeding a threshold value is applied to the magnet of the traction mechanism.
Optionally, the method further includes:
and the distance sensor is arranged on the mechanical arm and connected with the upper computer in the operating table, and is used for measuring the distance between the magnet of the mechanical arm and the human body and feeding back the distance to the upper computer.
Optionally, the distance sensor is connected to the upper computer through a digital-to-analog converter.
Optionally, the digital-to-analog converter is a single chip microcomputer including an STC15 chip, a USB serial port, an analog input terminal, and an RC filter circuit.
In the present invention, a magnetic force attitude controller includes: the device comprises an operating platform, a control cabinet, a mechanical arm and a traction mechanism; the mechanical arm and the traction mechanism are both provided with magnets for controlling a controlled object to move, the mechanical arm and the traction mechanism are vertically arranged, and the mechanical arm is positioned above the traction mechanism; the operation panel is used for receiving a control instruction input by a user, generating and sending a controlled object control signal to the control cabinet according to the control instruction; the control cabinet is used for receiving the controlled object control signal, converting the controlled object control signal into a first analog signal and a second analog signal, sending the first analog signal to the mechanical arm and sending the second analog signal to the traction mechanism; the mechanical arm is used for controlling the controlled object to move by utilizing the first analog signal; and the traction mechanism is used for controlling the controlled object to move by utilizing the second analog signal.
The invention utilizes the operation console to receive the control instruction input by the user, converts the digital signal into the analog signal through the control cabinet and sends the analog signal to the mechanical arm and the traction mechanism, the mechanical arm and the traction mechanism receive the respective analog signal and execute the corresponding action according to the analog signal to realize the azimuth control of the controlled object, and the controlled object can move and receive the control in all directions between the mechanical arm and the traction mechanism through the mechanical arm positioned at the upper part and the traction mechanism positioned at the lower part, thereby realizing larger detection range, higher safety and wider control range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a magnetic attitude controller according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another magnetic attitude controller according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a magnetic force attitude controller, which is shown in figure 1 and comprises: an operation table 11, a control cabinet 12, a mechanical arm 13 and a traction mechanism 14; the mechanical arm 13 and the traction mechanism 14 are both provided with magnets for controlling the movement of the controlled object, the operating console 11 is electrically connected with the control cabinet 12, the control cabinet 12 is electrically connected with the mechanical arm 13 and the traction mechanism 14 respectively, and the magnets can be permanent magnets.
Specifically, the console 11 may include an upper computer, a motion control card and a control lever, the upper computer and the control lever are used for receiving a control instruction input by a user, the motion control card generates and sends a controlled object control signal to the control cabinet 12 according to the control instruction, the upper computer may further display a stomach image returned by the controlled object inside a human body through a recorder, it can be understood that the controlled object may be a capsule endoscope, a magnet is disposed on the capsule to receive control of the mechanical arm 13 and the traction mechanism 14, and the traction mechanism 14 may be installed in a hospital bed.
Specifically, since the robot arm 13 and the traction mechanism 14 are both driven by servo motors, only analog signals can be received, for this reason, the control cabinet 12 is configured to receive a controlled object control signal, through two terminal boards corresponding to the robot arm 13 and the traction mechanism 14, a first terminal board converts a digital signal corresponding to the robot arm 13 in the controlled object control signal into a first analog signal, a second terminal board converts a digital signal corresponding to the traction mechanism 14 in the controlled object control signal into a second analog signal, and the control cabinet 12 sends the first analog signal to the robot arm 13 and sends the second analog signal to the traction mechanism 14.
Specifically, the robot arm 13 includes a plurality of servo motors for controlling the movement of the controlled object by receiving the first analog signal, and the traction mechanism 14 also includes a plurality of servo motors for controlling the movement of the controlled object by using the second analog signal.
For example, the robot arm 13 and the traction mechanism 14 may each include 5 servomotors, so as to have 5 degrees of freedom each, for a total of 10 degrees of freedom, wherein the axis 1, the axis 2, and the axis 3 of the robot arm 13 may control the positioning movement of the permanent magnet mounted on the robot arm 13 in the cartesian space coordinate system, and the axis 4 and the axis 5 may control the rotation of the permanent magnet of the robot arm 13 in the yaw and pitch directions; the shaft 6, the shaft 7 and the shaft 8 of the traction mechanism 14 can control the positioning movement of the permanent magnet of the traction mechanism 14 in a Cartesian space coordinate system, and the shaft 9 and the shaft 10 can control the rotation of the permanent magnet of the traction mechanism 14 in the yaw and pitch directions.
In practical application, when the capsule is positioned at the top, the capsule is mainly dragged by a permanent magnet arranged on the mechanical arm 13, the permanent magnet of the traction mechanism 14 is used for traction, the capsule is made to shoot an image of the bottom on the stomach wall at the top by utilizing the permanent magnet of the mechanical arm 13, and the capsule is made to downwards shoot images of the stomach fundus and the side wall from various angles; when the capsule is positioned at the bottom of the stomach, the capsule is mainly dragged by a permanent magnet lifted by a traction mechanism 14, the permanent magnet of the mechanical arm 13 is used for dragging, images of the top stomach wall and the cardia pylorus are shot upwards from various angles, and the permanent magnet of the traction mechanism 14 is used for shooting the image of the upper stomach wall at the bottom of the stomach.
It can be seen that, in the embodiment of the present invention, the console 11 is used to receive a control instruction input by a user, the control cabinet 12 is used to convert a digital signal into an analog signal and send the analog signal to the robot arm 13 and the traction mechanism 14, the robot arm 13 and the traction mechanism 14 receive the respective analog signal, and perform a corresponding action according to the analog signal to implement azimuth control on a controlled object, and the robot arm 13 located at the upper portion and the traction mechanism 14 located at the lower portion enable the controlled object to move and receive control in all directions between the robot arm 13 and the traction mechanism 14, thereby implementing a larger detection range, higher security, and a wider control range.
The embodiment of the invention discloses a specific magnetic force attitude controller, and compared with the previous embodiment, the embodiment further explains and optimizes the technical scheme. Referring to fig. 2, specifically:
in an embodiment of the present invention, the console 11 may specifically include a robot arm control module 112 and a traction mechanism control module 113; wherein,
and the mechanical arm control module 112 is configured to generate a controlled object control signal by using the control instruction, send the controlled object control signal to the control cabinet 12, and send the controlled object control signal to the traction mechanism control module 113.
Further, the robot arm control module 112 may include a control signal generation unit; wherein,
and the control signal generating unit is used for generating a controlled object control signal according to the control command by utilizing an interpolation algorithm.
Specifically, the robot control module 112 calculates the movement coordinates of the robot 13 based on an interpolation algorithm after receiving the control command transmitted from the console 11, generates a controlled object control signal, and transmits the controlled object control signal to the control cabinet 12 so that the robot 13 performs a corresponding operation, and transmits the controlled object control signal to the traction mechanism 14 so that the traction mechanism 14 can operate in cooperation with the robot 13.
And the traction mechanism control module 113 is configured to generate a following control signal by using the controlled object control signal, and send the following control signal to the control cabinet 12.
Further, the traction mechanism control module 113 may include a control signal generation unit; wherein,
and the control signal generating unit is used for generating a following control signal according to the controlled object control signal by utilizing an electronic gear following algorithm.
Specifically, after receiving the controlled object control signal sent by the robot arm control module 112, the traction mechanism control module 113 may calculate the movement coordinate of the permanent magnet of the traction mechanism 14 by using an electronic gear following algorithm, generate a following control signal, and send the following control signal to the control cabinet 12, so that the traction mechanism 14 performs an action according to the second analog signal.
Different control modules are arranged for the mechanical arm 13 and the traction mechanism 14, so that the mechanical arm 13 and the traction mechanism 14 can independently operate, independent motion control programs and independent process packages are provided, and the traction mechanism 14 adopts an electronic gear following algorithm, so that the complex multi-axis interpolation algorithm can be avoided, the interpolation algorithm and the following algorithm are converted, only the electronic gear following algorithm needs to be added to the existing mechanical arm 13 interpolation algorithm, the calculation efficiency is improved, and the programming difficulty of the programs is reduced.
In practical application, since the working height of the mechanical arm 13 and the traction mechanism 14 needs to be adjusted to control the strength of the magnetic force, so as to control the posture position of the controlled object, in order to prevent the working height of the mechanical arm 13 from causing extrusion and damage to a patient and prevent the working height of the traction mechanism 14 from colliding with a hospital bed to cause equipment damage, the magnetic posture controller further comprises a first limit sensor 141 and a second limit sensor 141 which are connected in series with a power supply circuit of the control cabinet 12, and the first limit sensor 141 and the second limit sensor are used for correspondingly cutting off the power supply circuit of the mechanical arm 13 and/or the traction mechanism 14 when detecting that the magnet of the mechanical arm 13 or the magnet of the traction mechanism 14 is subjected to pressure exceeding a threshold value; the safety limit sensors are respectively arranged near the nearest positions where the mechanical arm 13 and the traction mechanism 14 are contacted with a person, so that the mechanical arm 13 and the traction mechanism 14 cannot squeeze a patient to cause injury, for example, the safety limit sensors can be arranged at the peripheries of magnets of the mechanical arm 13 and the traction mechanism 14, the first limit sensor 141 and the second limit sensor 141 can be touch sensors which are directly contacted with the patient to detect a pressure value, or can be arranged in a magnet shell and are contacted with the magnet shell to detect whether the magnet shell is squeezed or deformed to detect whether a safety limit is exceeded, when the first limit sensor 132 corresponding to the mechanical arm 13 detects that the safety limit is exceeded, a power supply circuit of the mechanical arm 13 is cut off, and when the second limit sensor 141 corresponding to the traction mechanism 14 detects that the safety limit is exceeded, the power supply circuit of the traction mechanism 14 is cut off, thereby ensuring that the robot arm 13 and/or the pulling mechanism 14 do not cause damage to people or equipment.
For example, the preset pressure value is 300Pa, and when the safety limit sensor detects that the pressure received by the magnet of the mechanical arm 13 or the traction mechanism 14 exceeds 300Pa, the power supply circuit of the mechanical arm 13 or the traction mechanism 14 is cut off, so that the mechanical arm 13 or the traction mechanism 14 can stop working in time, and further damage is prevented.
Further, in order to better ensure that the robot arm 13 does not hurt people due to too low height, a distance sensor 131 which is arranged on the robot arm 13 and connected with the upper computer 111 in the operation platform 11 is additionally arranged on the robot arm 13 and used for measuring the distance between the magnet of the robot arm 13 and the human body and feeding back the distance to the upper computer 111.
Specifically, the user may set a safe distance through the upper computer 111 in the console 11, and when the upper computer 111 receives that the distance sensor 131 detects that the distance between the magnet of the robot arm 13 and the human body is less than the safe distance, the upper computer 111 prohibits the robot arm 13 from moving further downward, for example, the distance sensor 131 may be an ultrasonic sensor, the distance sensor 131 may convert the position information into a voltage of 0 to 10V, for example, the highest distance between the magnet and the patient bed is 700mm, the position distance of 700mm is mapped to the voltage, so that the voltage of 10V corresponds to the distance of 700mm, and the voltage of 1V is equal to 70mm, the distance sensor 131 feeds back the distance information, for example, the distance between the magnet and the human body is 200mm, 200mm/70 is 2.857V, the distance sensor 131 feeds back the voltage of 2.857V to the upper computer 111, so that the user can observe the distance between the magnet and the patient, further improve the security, simultaneously, the user can also set up safe distance threshold through host computer 111, makes the voltage that distance sensor 131 feedbacks can not be less than the threshold of setting, for example, host computer 111 sets up the position that can not be less than 50mm, then 50mm/70 equals 0.714V, the threshold is 0.714V, when the voltage that distance sensor 131 feedbacks reaches 0.714V, then operation panel 11 is not handling the instruction that makes arm 13 move down that the user input to the safety of protection disease.
It should be noted that, since the upper computer 111 in the console 11 may not be able to directly receive the voltage signal fed back by the distance sensor 131, the distance sensor 131 and the upper computer 111 are connected by a digital-to-analog converter, and an analog signal fed back by the distance sensor 131 is converted into a digital signal that can be received by the upper computer 111 by the digital-to-analog converter, so that the upper computer 111 can receive the position information.
Specifically, the digital-to-analog converter can be a single chip microcomputer comprising an STC15 chip, a USB serial port, an analog input terminal and an RC filter circuit, the single chip microcomputer can adopt 8-bit AD acquisition, the output digital quantity range is 0-255, when the resolution ratio is that the digital quantity changes by a minimum quantity, the variable quantity of the analog signal is represented by the digit number of the digital signal and is defined as full scale 2n-a ratio of 1.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The magnetic force attitude controller provided by the invention is described in detail above, and the principle and the implementation mode of the invention are explained by applying specific examples, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (8)
1. A magnetic attitude controller, comprising: the device comprises an operating platform, a control cabinet, a mechanical arm and a traction mechanism; the mechanical arm and the traction mechanism are both provided with magnets for controlling a controlled object to move, the mechanical arm and the traction mechanism are vertically arranged, and the mechanical arm is positioned above the traction mechanism;
the console is used for receiving a control instruction input by a user, generating and sending a controlled object control signal to the control cabinet according to the control instruction;
the control cabinet is used for receiving the controlled object control signal, converting the controlled object control signal into a first analog signal and a second analog signal, sending the first analog signal to the mechanical arm and sending the second analog signal to the traction mechanism;
the mechanical arm is used for controlling the controlled object to move by utilizing the first analog signal;
the traction mechanism is used for controlling the controlled object to move by utilizing the second analog signal.
2. The magnetic attitude controller of claim 1, wherein the console comprises:
the mechanical arm control module is used for generating a controlled object control signal by using the control instruction, sending the controlled object control signal to the control cabinet and sending the controlled object control signal to the traction mechanism control unit;
and the traction mechanism control module is used for generating a following control signal by utilizing the controlled object control signal and sending the following control signal to the control cabinet.
3. The magnetic attitude controller of claim 2, wherein the robotic arm control module comprises:
and the control signal generating unit is used for generating a controlled object control signal according to the control command by utilizing an interpolation algorithm.
4. The magnetic attitude controller of claim 2, wherein the traction mechanism control module comprises:
and the control signal generating unit is used for generating the following control signal according to the controlled object control signal by utilizing an electronic gear following algorithm.
5. The magnetic attitude controller according to any one of claims 1 to 4, further comprising:
the first limit sensor is connected in series with a power supply circuit of a mechanical arm in the control cabinet and is used for cutting off the power supply circuit of the mechanical arm when the pressure exceeding a threshold value on the magnet of the mechanical arm is detected;
and the second limit sensor is connected in series with a power supply circuit of the traction mechanism in the control cabinet and is used for cutting off the power supply circuit of the traction mechanism when detecting that the pressure exceeding a threshold value is applied to the magnet of the traction mechanism.
6. The magnetic attitude controller according to any one of claims 1 to 4, further comprising:
and the distance sensor is arranged on the mechanical arm and connected with the upper computer in the operating table, and is used for measuring the distance between the magnet of the mechanical arm and the human body and feeding back the distance to the upper computer.
7. The magnetic attitude controller of claim 6, wherein the distance sensor is connected to the upper computer through a digital-to-analog converter.
8. The magnetic attitude controller of claim 7, wherein the digital-to-analog converter is a single chip microcomputer including an STC15 chip, a USB serial port, an analog input terminal, and an RC filter circuit.
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| CN201810002433.9A CN108354576A (en) | 2018-01-02 | 2018-01-02 | A kind of magnetic force attitude controller |
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| CN201810002433.9A CN108354576A (en) | 2018-01-02 | 2018-01-02 | A kind of magnetic force attitude controller |
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| CN109259716A (en) * | 2018-09-04 | 2019-01-25 | 北京理工大学 | A kind of capsule endoscope magnetic guide control device |
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| CN112802652A (en) * | 2021-01-15 | 2021-05-14 | 无锡声亚医疗科技有限公司 | Reliable control circuit applied to direct current electromagnet control mechanical arm |
| CN116115349A (en) * | 2023-04-18 | 2023-05-16 | 中国科学院理化技术研究所 | Needle insertion manipulator control system and minimally invasive surgery robot |
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Application publication date: 20180803 |